Pure Pursuit Planner

[arya1106]

Implement a bare bones Pure Pursuit planner that will produce steering and throttle values given a target pose. The target pose's reference frame will assume the current position of the ZED camera is the origin.

The target pose key will be controls/targetPose in the vehicle memory, and will be of the format (x,y,z,yawº). Publish steering and throttle values to controls/steering and controls/throttle.

Theoy:

• https://dingyan89.medium.com/three-methods-of-vehicle-lateral-control-pure-pursuit-stanley-and-mpc-db8cc1d32081
• https://wiki.purduesigbots.com/software/control-algorithms/basic-pure-pursuit